Trajectory optimization is the core of modern model-based robotic control and motion planning. Existing trajectory optimizers, based on sequential quadratic programming (SQP) or differential dynamic programming (DDP), are often limited by their slow computation efficiency, low modeling flexibility, and poor convergence for complex tasks requiring hard constraints. In this paper, we introduce Hippo, a solver that can handle inequality constraints using the interior-point method (IPM) with an adaptive barrier update strategy and hard equality constraints via projection or IPM. Through extensive numerical benchmarks, we show that Hippo is a robust and efficient alternative to existing state-of-the-art solvers for difficult robotic trajectory optimization problems requiring high-quality solutions, such as locomotion and manipulation.

Existing point cloud completion methods struggle to balance high-quality reconstruction with computational efficiency. To address this, we propose PPC-MT, a novel parallel framework for point cloud completion leveraging a hybrid Mamba-Transformer architecture. Our approach introduces an innovative parallel completion strategy guided by Principal Component Analysis (PCA), which imposes a geometrically meaningful structure on unordered point clouds, transforming them into ordered sets and decomposing them into multiple subsets. These subsets are reconstructed in parallel using a multi-head reconstructor. This structured parallel synthesis paradigm significantly enhances the uniformity of point distribution and detail fidelity, while preserving computational efficiency. By integrating Mamba's linear complexity for efficient feature extraction during encoding with the Transformer's capability to model fine-grained multi-sequence relationships during decoding, PPC-MT effectively balances efficiency and reconstruction accuracy. Extensive quantitative and qualitative experiments on benchmark datasets, including PCN, ShapeNet-55/34, and KITTI, demonstrate that PPC-MT outperforms state-of-the-art methods across multiple metrics, validating the efficacy of our proposed framework.

Counterfactual learning has become promising for understanding and modeling causality in complex and dynamic systems. This paper presents a novel method for counterfactual learning in the context of multivariate time series analysis and forecast. The primary objective is to uncover hidden causal relationships and identify potential interventions to achieve desired outcomes. The proposed methodology integrates genetic algorithms and rigorous causality tests to infer and validate counterfactual dependencies within temporal sequences. More specifically, we employ Granger causality to enhance the reliability of identified causal relationships, rigorously assessing their statistical significance. Then, genetic algorithms, in conjunction with quantile regression, are used to exploit these intricate causal relationships to project future scenarios. The synergy between genetic algorithms and causality tests ensures a thorough exploration of the temporal dynamics present in the data, revealing hidden dependencies and enabling the projection of outcomes under hypothetical interventions. We evaluate the performance of our algorithm on real-world data, showcasing its ability to handle complex causal relationships, revealing meaningful counterfactual insights, and allowing for the prediction of outcomes under hypothetical interventions.

Recommendation Systems are effective in managing the ever-increasing amount of multimodal data available today and help users discover interesting new items. These systems can handle various media types such as images, text, audio, and video data, and this has made it possible to handle content-based recommendation utilizing features extracted from items while also incorporating user preferences. Graph Neural Network (GNN)-based recommendation systems are a special class of recommendation systems that can handle relationships between items and users, making them particularly attractive for content-based recommendations. Their popularity also stems from the fact that they use advanced machine learning techniques, such as deep learning on graph-structured data, to exploit user-to-item interactions. The nodes in the graph can access higher-order neighbor information along with state-of-the-art vision-language models for processing multimodal content, and there are well-designed algorithms for embedding, message passing, and propagation. In this work, we present the design of a GNN-based recommendation system on a novel data set collected from field research. Designed for an endangered performing art form, the recommendation system uses multimodal content (text and image data) to suggest similar paintings for viewing and purchase. To the best of our knowledge, there is no recommendation system designed for narrative scroll paintings -- our work therefore serves several purposes, including art conservation, a data storage system for endangered art objects, and a state-of-the-art recommendation system that leverages both the novel characteristics of the data and preferences of the user population interested in narrative scroll paintings.

We propose a simple yet effective UHDPromer, a neural discrimination-prompted Transformer, for Ultra-High-Definition (UHD) image restoration and enhancement. Our UHDPromer is inspired by an interesting observation that there implicitly exist neural differences between high-resolution and low-resolution features, and exploring such differences can facilitate low-resolution feature representation. To this end, we first introduce Neural Discrimination Priors (NDP) to measure the differences and then integrate NDP into the proposed Neural Discrimination-Prompted Attention (NDPA) and Neural Discrimination-Prompted Network (NDPN). The proposed NDPA re-formulates the attention by incorporating NDP to globally perceive useful discrimination information, while the NDPN explores a continuous gating mechanism guided by NDP to selectively permit the passage of beneficial content. To enhance the quality of restored images, we propose a super-resolution-guided reconstruction approach, which is guided by super-resolving low-resolution features to facilitate final UHD image restoration. Experiments show that UHDPromer achieves the best computational efficiency while still maintaining state-of-the-art performance on $3$ UHD image restoration and enhancement tasks, including low-light image enhancement, image dehazing, and image deblurring. The source codes and pre-trained models will be made available at https://github.com/supersupercong/uhdpromer.

Biomedical multimodal assistants have the potential to unify radiology, pathology, and clinical-text reasoning, yet a critical deployment gap remains: top-performing systems are either closed-source or computationally prohibitive, precluding the on-premises deployment required for patient privacy and PHI compliance. We introduce MEDGPT-OSS, an open-weight, 20B-parameter generalist vision-language model designed to facilitate open research in clinical AI. Rather than relying on architectural complexity, MEDGPT-OSS pairs the GPT-oss language backbone with a visual front-end via a optimized, three-stage training curriculum. By progressively domain-adapting these modules through rigorous data curation and long-context multimodal alignment, we demonstrate that a 20B model can bridge the capacity gap. It successfully outperforms larger open medical models on out-of-distribution (OOD) multimodal reasoning and complex text-only clinical tasks. By unifying diverse modalities under a single instruction-following interface, MEDGPT-OSS maintains a parameter-efficient footprint fully compatible with commodity GPUs. We release the complete training recipe, open-weight checkpoints, and a rigorous evaluation harness to serve as a verifiable foundation for privacy-preserving, institution-specific clinical AI research.

Nested named entity recognition identifies entities contained within other entities, but requires expensive multi-level annotation. While flat NER corpora exist abundantly, nested resources remain scarce. We investigate whether models can learn nested structure from flat annotations alone, evaluating four approaches: string inclusions (substring matching), entity corruption (pseudo-nested data), flat neutralization (reducing false negative signal), and a hybrid fine-tuned + LLM pipeline. On NEREL, a Russian benchmark with 29 entity types where 21% of entities are nested, our best combined method achieves 26.37% inner F1, closing 40% of the gap to full nested supervision. Code is available at https://github.com/fulstock/Learning-from-Flat-Annotations.

In recent years, various methods have been proposed for mesh analysis, each offering distinct advantages and often excelling on different object classes. We present a novel Mixture of Experts (MoE) framework designed to harness the complementary strengths of these diverse approaches. We propose a new gate architecture that encourages each expert to specialise in the classes it excels in. Our design is guided by two key ideas: (1) random walks over the mesh surface effectively capture the regions that individual experts attend to, and (2) an attention mechanism that enables the gate to focus on the areas most informative for each expert's decision-making. To further enhance performance, we introduce a dynamic loss balancing scheme that adjusts a trade-off between diversity and similarity losses throughout the training, where diversity prompts expert specialization, and similarity enables knowledge sharing among the experts. Our framework achieves state-of-the-art results in mesh classification, retrieval, and semantic segmentation tasks. Our code is available at: https://github.com/amirbelder/MME-Mixture-of-Mesh-Experts.

Recent advances in video generation have spurred the development of world models capable of simulating 3D-consistent environments and interactions with static objects. However, a significant limitation remains in their ability to model dynamic, reactive agents that can intelligently influence and interact with the world. To address this gap, we introduce COMBAT, a real-time, action-controlled world model trained on the complex 1v1 fighting game Tekken 3. Our work demonstrates that diffusion models can successfully simulate a dynamic opponent that reacts to player actions, learning its behavior implicitly. Our approach utilizes a 1.2 billion parameter Diffusion Transformer, conditioned on latent representations from a deep compression autoencoder. We employ state-of-the-art techniques, including causal distillation and diffusion forcing, to achieve real-time inference. Crucially, we observe the emergence of sophisticated agent behavior by training the model solely on single-player inputs, without any explicit supervision for the opponent's policy. Unlike traditional imitation learning methods, which require complete action labels, COMBAT learns effectively from partially observed data to generate responsive behaviors for a controllable Player 1. We present an extensive study and introduce novel evaluation methods to benchmark this emergent agent behavior, establishing a strong foundation for training interactive agents within diffusion-based world models.

Work introduces a hierarchical binary tree-based reduction that replaces standard self-attention. The core idea is to use a recursive Gated Linear Unit merge operation, achieving O(n) total merge operations O(log n) parallel depth O(n d^2) total work and O(n) space complexity. In these experiments, the model significantly outperforms standard Transformers in both convergence speed and accuracy on long-range structural dependencies, specifically where hierarchical inductive bias is critical.

In machine learning, curation is used to select the most valuable data for improving both model accuracy and computational efficiency. Recently, curation has also been explored as a solution for private machine learning: rather than training directly on sensitive data, which is known to leak information through model predictions, the private data is used only to guide the selection of useful public data. The resulting model is then trained solely on curated public data. It is tempting to assume that such a model is privacy-preserving because it has never seen the private data. Yet, we show that without further protection, curation pipelines can still leak private information. Specifically, we introduce novel attacks against popular curation methods, targeting every major step: the computation of curation scores, the selection of the curated subset, and the final trained model. We demonstrate that each stage reveals information about the private dataset and that even models trained exclusively on curated public data leak membership information about the private data that guided curation. These findings highlight the previously overlooked inherent privacy risks of data curation and show that privacy assessment must extend beyond the training procedure to include the data selection process. Our differentially private adaptations of curation methods effectively mitigate leakage, indicating that formal privacy guarantees for curation are a promising direction.

A major challenge for world models in multi-agent systems is to understand interdependent agent dynamics, predict interactive multi-agent trajectories, and plan over long horizons with collective awareness, without centralized supervision or explicit communication. In this paper, MetaMind, a general and cognitive world model for multi-agent systems that leverages a novel meta-theory of mind (Meta-ToM) framework, is proposed. Through MetaMind, each agent learns not only to predict and plan over its own beliefs, but also to inversely reason goals and beliefs from its own behavior trajectories. This self-reflective, bidirectional inference loop enables each agent to learn a metacognitive ability in a self-supervised manner. Then, MetaMind is shown to generalize the metacognitive ability from first-person to third-person through analogical reasoning. Thus, in multi-agent systems, each agent with MetaMind can actively reason about goals and beliefs of other agents from limited, observable behavior trajectories in a zero-shot manner, and then adapt to emergent collective intention without an explicit communication mechanism. Extended simulation results on diverse multi-agent tasks demonstrate that MetaMind can achieve superior task performance and outperform baselines in few-shot multi-agent generalization.

The proliferation of neural radiance field (NeRF) research requires significant efforts to reimplement papers before building upon them. We introduce NERFIFY, a multi-agent framework that reliably converts NeRF research papers into trainable Nerfstudio plugins, in contrast to generic paper-to-code methods and frontier models like GPT-5 that usually fail to produce runnable code. NERFIFY achieves domain-specific executability through six key innovations: (1) Context-free grammar (CFG): LLM synthesis is constrained by Nerfstudio formalized as a CFG, ensuring generated code satisfies architectural invariants. (2) Graph-of-Thought code synthesis: Specialized multi-file-agents generate repositories in topological dependency order, validating contracts and errors at each node. (3) Compositional citation recovery: Agents automatically retrieve and integrate components (samplers, encoders, proposal networks) from citation graphs of references. (4) Visual feedback: Artifacts are diagnosed through PSNR-minima ROI analysis, cross-view geometric validation, and VLM-guided patching to iteratively improve quality. (5) Knowledge enhancement: Beyond reproduction, methods can be improved with novel optimizations. (6) Benchmarking: An evaluation framework is designed for NeRF paper-to-code synthesis across 30 diverse papers. On papers without public implementations, NERFIFY achieves visual quality matching expert human code (+/-0.5 dB PSNR, +/-0.2 SSIM) while reducing implementation time from weeks to minutes. NERFIFY demonstrates that a domain-aware design enables code translation for complex vision papers, potentiating accelerated and democratized reproducible research. Code, data and implementations will be publicly released.

We study an identification problem in multi-armed bandits. In each round a learner selects one of $K$ arms and observes its reward, with the goal of eventually identifying an arm that will perform best at a {\it future} time. In adversarial environments, however, past performance may offer little information about the future, raising the question of whether meaningful identification is possible at all. In this work, we introduce \emph{lookahead identification}, a task in which the goal of the learner is to select a future prediction window and commit in advance to an arm whose average reward over that window is within $\varepsilon$ of optimal. Our analysis characterizes both the achievable accuracy of lookahead identification and the memory resources required to obtain it. From an accuracy standpoint, for any horizon $T$ we give an algorithm achieving $\varepsilon = O\bigl(1/\sqrt{\log T}\bigr)$ over $Ω(\sqrt{T})$ prediction windows. This demonstrates that, perhaps surprisingly, identification is possible in adversarial settings, despite significant lack of information. We also prove a near-matching lower bound showing that $\varepsilon = Ω\bigl(1/\log T\bigr)$ is unavoidable. We then turn to investigate the role of memory in our problem, first proving that any algorithm achieving nontrivial accuracy requires $Ω(K)$ bits of memory. Under a natural \emph{local sparsity} condition, we show that the same accuracy guarantees can be achieved using only poly-logarithmic memory.

Language agents increasingly act as web-enabled systems that search, browse, and synthesize information from diverse sources. However, these sources can include unreliable or adversarial content, and the robustness of agents to adversarial ranking - where misleading information appears prominently in search results - remains poorly understood. Existing benchmarks evaluate functional navigation or static factuality but cannot causally isolate this vulnerability, and current mitigation strategies for retrieval-augmented generation remain largely untested under such conditions. We introduce Synthetic Web Benchmark, a procedurally generated environment comprising thousands of hyperlinked articles with ground-truth labels for credibility and factuality, process-level interaction traces, and contamination filtering to eliminate training-data leakage. By injecting a single high-plausibility misinformation article into a controllable search rank, we measure the causal effect of adversarial exposure in six frontier models. The results reveal catastrophic failures: accuracy collapses despite unlimited access to truthful sources, with minimal search escalation and severe miscalibration. These findings expose fundamental limitations in how current frontier models handle conflicting information, with immediate implications for deployment in high-stakes domains. Our benchmark enables systematic analysis of these failure modes and provides a controlled testbed for evaluating mitigation strategies under adversarial ranking - a gap in current research. This work establishes a reproducible baseline for developing search-robust and epistemically humble agents capable of resisting manipulation in high-stakes domains.

We propose the Neural Functional Alignment Space (NFAS), a brain-referenced representational framework for characterizing artificial neural networks on equal functional grounds. NFAS departs from conventional alignment approaches that rely on layer-wise features or task-specific activations by modeling the intrinsic dynamical evolution of stimulus representations across network depth. Specifically, we model layer-wise embeddings as a depth-wise dynamical trajectory and apply Dynamic Mode Decomposition (DMD) to extract the stable mode. This representation is then projected into a biologically anchored coordinate system defined by distributed neural responses. We also introduce the Signal-to-Noise Consistency Index (SNCI) to quantify cross-model consistency at the modality level. Across 45 pretrained models spanning vision, audio, and language, NFAS reveals structured organization within this brain-referenced space, including modality-specific clustering and cross-modal convergence in integrative cortical systems. Our findings suggest that representation dynamics provide a principled basis for

Fluid-solid interaction (FSI) problems are fundamental in many scientific and engineering applications, yet effectively capturing the highly nonlinear two-way interactions remains a significant challenge. Most existing deep learning methods are limited to simplified one-way FSI scenarios, often assuming rigid and static solid to reduce complexity. Even in two-way setups, prevailing approaches struggle to capture dynamic, heterogeneous interactions due to the lack of cross-domain awareness. In this paper, we introduce \textbf{Fisale}, a data-driven framework for handling complex two-way \textbf{FSI} problems. It is inspired by classical numerical methods, namely the Arbitrary Lagrangian-Eulerian (\textbf{ALE}) method and the partitioned coupling algorithm. Fisale explicitly models the coupling interface as a distinct component and leverages multiscale latent ALE grids to provide unified, geometry-aware embeddings across domains. A partitioned coupling module (PCM) further decomposes the problem into structured substeps, enabling progressive modeling of nonlinear interdependencies. Compared to existing models, Fisale introduces a more flexible framework that iteratively handles complex dynamics of solid, fluid and their coupling interface on a unified representation, and enables scalable learning of complex two-way FSI behaviors. Experimentally, Fisale excels in three reality-related challenging FSI scenarios, covering 2D, 3D and various tasks. The code is available at \href{https://github.com/therontau0054/Fisale}.

Local journalism is vital in democratic societies where it informs people about local issues like, school board elections, small businesses, local health services, etc. But mounting economic pressures have made it increasingly difficult for local news stations to report these issues, underscoring the need to identify the salient geographical locations covered in local news (geo-foci). In response, we propose a novel geo-foci model for labeling US local news articles with the geographic locations (i.e., the names of counties, cities, states, countries) central to their subject matter. First, we manually labeled US local news articles from all 50 states with four administrative division labels (local, state, national, and international) corresponding to their geo-foci, and none for articles without a geographic focus. Second, we extracted and disambiguated geographic locations from them using Large Language Models (LLMs), since local news often contains ambiguous geographic entities (e.g., Paris, Texas vs. Paris, France). LLMs outperformed all eight geographic entity disambiguation methods we evaluated. Third, we engineered a rich set of spatial-semantic features capturing the prominence, frequency, and contextual positions of geographic entities. Using these features, we trained a classifier to accurately (F1: 0.86) detect the geographic foci of US local news articles. Our model could be applied to assess shifts from local to national narratives, and more broadly, enable researchers to better study local media.

Understanding how large-scale functional brain networks reorganize during cognitive decline remains a central challenge in neuroimaging. While recent self-supervised models have shown promise for learning representations from resting-state fMRI, their internal mechanisms are difficult to interpret, limiting mechanistic insight. We propose BrainInterNet, a network-aware self-supervised framework based on masked reconstruction with cross-attention that explicitly models inter-network dependencies in rs-fMRI. By selectively masking predefined functional networks and reconstructing them from remaining context, our approach enables direct quantification of network predictability and interpretable analysis of cross-network interactions. We train BrainInterNet on multi-cohort fMRI data (from the ABCD, HCP Development, HCP Young Adults, and HCP Aging datasets) and evaluate on the Alzheimer's Disease Neuroimaging Initiative (ADNI) dataset, in total comprising 5,582 recordings. Our method reveals systematic alterations in the brain's network interactions under AD, including in the default mode, limbic, and attention networks. In parallel, the learned representations support accurate Alzheimer's-spectrum classification and yield a compact summary marker that tracks disease severity longitudinally. Together, these results demonstrate that network-guided masked modeling with cross-attention provides an interpretable and effective framework for characterizing functional reorganization in neurodegeneration.

Text-to-image diffusion models have achieved unprecedented success but still struggle to produce high-quality results under limited sampling budgets. Existing training-free sampling acceleration methods are typically developed independently, leaving the overall performance and compatibility among these methods unexplored. In this paper, we bridge this gap by systematically elucidating the design space, and our comprehensive experiments identify the sampling time schedule as the most pivotal factor. Inspired by the geometric properties of diffusion models revealed through the Frenet-Serret formulas, we propose constant total rotation schedule (TORS), a scheduling strategy that ensures uniform geometric variation along the sampling trajectory. TORS outperforms previous training-free acceleration methods and produces high-quality images with 10 sampling steps on Flux.1-Dev and Stable Diffusion 3.5. Extensive experiments underscore the adaptability of our method to unseen models, hyperparameters, and downstream applications.

In this paper, we present an online method for converting an arbitrary geometric path represented by a sequence of states, generated by any planner (e.g., sampling-based planners like RRT or PRM, search-based planners like ARA*, etc.), into a corresponding kinematically feasible, jerk-limited trajectory. The method generates a sequence of quintic/quartic splines that can be discretized at a user-specified control rate, and then streamed to a low-level robot controller. Our approach enables real-time adaptation to newly captured changes in the environment. It can also be re-invoked at any time instance to generate a new trajectory from the robot's current to a desired target state or sequence of states. We can guarantee that the trajectory will remain collision-free for a certain amount of time in dynamic environments, while allowing bounded geometric deviation from the original path. The kinematic constraints are taken into account, including limited jerk. We validate the approach in a comparative simulation study against the competing method, demonstrating favorable behavior w.r.t. smoothness, computational time, and real-time performance, particularly in scenarios with frequent changes of target states (up to 1 [kHz]). Experiments on a real robot demonstrate that the proposed approach can be used in real-world scenarios including human presence.

Precision medicine promises to transform health care by offering individualised treatments that dramatically improve clinical outcomes. A necessary prerequisite is to identify subgroups of patients who respond differently to different therapies. Current approaches are limited to static measures of treatment success, neglecting the repeated measures found in most clinical trials. Our approach combines the concept of partly conditional modelling with treatment effect estimation based on the Virtual Twins method. The resulting time-specific responses to treatment are characterised using survLIME, an extension of Local Interpretable Model-agnostic Explanations (LIME) to survival data. Performance was evaluated using synthetic data and applied to clinical trials examining the effectiveness of panitumumab to treat metastatic colorectal cancer. An area under the receiver operating characteristic curve (AUC) of 0.77 for identifying fixed responders was achieved in a 1000 patient simulation. When considering dynamic responders, partly conditional modelling increased the AUC from 0.597 to 0.685. Applying the approach to colorectal cancer trials found genetic mutations, sites of metastasis, and ethnicity as important factors for response to treatment. Our approach can accommodate a dynamic response to treatment while potentially providing better performance than existing methods in instances of a fixed response to treatment. When applied to clinical data we attain results consistent with the literature.

Stroke is a major cause of death and disability worldwide. Accurate outcome and evolution prediction has the potential to revolutionize stroke care by individualizing clinical decision-making leading to better outcomes. However, despite a plethora of attempts and the rich data provided by neuroimaging, modelling the ultimate fate of brain tissue remains a challenging task. In this work, we apply recent ideas in the field of diffusion probabilistic models to generate a self-supervised semantically meaningful stroke representation from Computed Tomography (CT) images. We then improve this representation by extending the method to accommodate longitudinal images and the time from stroke onset. The effectiveness of our approach is evaluated on a dataset consisting of 5,824 CT images from 3,573 patients across two medical centers with minimal labels. Comparative experiments show that our method achieves the best performance for predicting next-day severity and functional outcome at discharge.

This paper introduces General Proximal Flow Networks (GPFNs), a generalization of Bayesian Flow Networks that broadens the class of admissible belief-update operators. In Bayesian Flow Networks, each update step is a Bayesian posterior update, which is equivalent to a proximal step with respect to the Kullback-Leibler divergence. GPFNs replace this fixed choice with an arbitrary divergence or distance function, such as the Wasserstein distance, yielding a unified proximal-operator framework for iterative generative modeling. The corresponding training and sampling procedures are derived, establishing a formal link to proximal optimization and recovering the standard BFN update as a special case. Empirical evaluations confirm that adapting the divergence to the underlying data geometry yields measurable improvements in generation quality, highlighting the practical benefits of this broader framework.

Speech is a natural means of conveying emotions, making it an effective method for understanding and representing human feelings. Reliable speech emotion recognition (SER) is central to applications in human-computer interaction, healthcare, education, and customer service. However, most SER methods depend on heavy backbone models or hand-crafted features that fail to balance accuracy and efficiency, particularly for low-resource languages like Bangla. In this work, we present SpectroFusion-ViT, a lightweight SER framework built utilizing EfficientViT-b0, a compact Vision Transformer architecture equipped with self-attention to capture long-range temporal and spectral patterns. The model contains only 2.04M parameters and requires 0.1 GFLOPs, enabling deployment in resource-constrained settings without compromising accuracy. Our pipeline first performs preprocessing and augmentation on raw audio, then extracts Chroma and Mel-frequency cepstral coefficient (MFCC) features. These representations are fused into a complementary time-frequency descriptor that preserves both fine-grained spectral detail and broader harmonic structure. Using transfer learning, EfficientViT-b0 is fine-tuned for multi-class emotion classification. We evaluate the system on two benchmark Bangla emotional speech datasets, SUBESCO and BanglaSER, which vary in speaker diversity, recording conditions, and acoustic characteristics. The proposed approach achieves 92.56% accuracy on SUBESCO and 82.19% on BanglaSER, surpassing existing state-of-the-art methods. These findings demonstrate that lightweight transformer architectures can deliver robust SER performance while remaining computationally efficient for real-world deployment.

Accurate Remaining Useful Life (RUL) prediction is a key requirement for effective Prognostics and Health Management (PHM) in safety-critical systems such as aero-engines. Existing deep learning approaches, particularly LSTM-based models, often struggle to generalize across varying operating conditions and are sensitive to noise in multivariate sensor data. To address these challenges, we propose a novel Bidirectional Residual Corrected LSTM (Bi-cLSTM) model for robust RUL estimation. The proposed architecture combines bidirectional temporal modeling with an adaptive residual correction mechanism to iteratively refine sequence representations. In addition, we introduce a condition-aware preprocessing pipeline incorporating regime-based normalization, feature selection, and exponential smoothing to improve robustness under complex operating environments. Extensive experiments on all four subsets of the NASA C-MAPSS dataset demonstrate that the proposed Bi-cLSTM consistently outperforms LSTM-based baselines and achieves competitive state-of-the-art performance, particularly in challenging multi-condition scenarios. These results highlight the effectiveness of combining bidirectional temporal learning with residual correction for reliable RUL prediction.

In this work, we propose a new deep learning model for Genomic Prediction (GP), which involves correlating genotypic data with phenotypic. The genotypes are typically fed as a sequence of characters to the 1D-Convolution Neural Network layer of the underlying deep learning model. Inspired by earlier work that represented genotype as a 2D-image for genotype-phenotype classification, we extend this idea to GP, which is a regression task. We use a ResNet-18 as the underlying architecture, and term this model as ResGene-2D. Although the 2D-image representation captures biological interactions well, it requires all the layers of the model to do so. This limits training efficiency. Thus, as seen in the earlier work that proposed a 2D-image representation, our ResGene-2D performs almost the same as other models (3% improvement). To overcome this, we propose a novel idea of converting the 2D-image into a 3D/ tensor and feed this to the ResNet-18 architecture, and term this model as ResGene-T. We evaluate our proposed models on three crop species having ten phenotypic traits and compare it with seven most popular models (two statistical, two machine learning, and three deep learning). ResGene-T performs the best among all these seven methods (gains from 14.51% to 41.51%).

For a long period of time, Adam has served as the ubiquitous default choice for training deep neural networks. Recently, many new optimizers have been introduced, out of which Muon has perhaps gained the highest popularity due to its superior training speed. While many papers set out to validate the benefits of Muon, our paper investigates the potential downsides stemming from the mechanism driving this speedup. We explore the biases induced when optimizing with Muon, providing theoretical analysis and its consequences to the learning trajectories and solutions learned. While the theory does provide justification for the benefits Muon brings, it also guides our intuition when coming up with a couple of examples where Muon-optimized models have disadvantages. The core problem we emphasize is that Muon optimization removes a simplicity bias that is naturally preserved by older, more thoroughly studied methods like Stochastic Gradient Descent (SGD). We take first steps toward understanding consequences this may have: Muon might struggle to uncover common underlying structure across tasks, and be more prone to fitting spurious features. More broadly, this paper should serve as a reminder: when developing new optimizers, it is essential to consider the biases they introduce, as these biases can fundamentally change a model's behavior -- for better or for worse.

Planning physically feasible dexterous hand manipulation is a central challenge in robotic manipulation and Embodied AI. Prior work typically relies on object-centric cues or precise hand-object interaction sequences, foregoing the rich, compositional guidance of open-vocabulary instruction. We introduce UniHM, the first framework for unified dexterous hand manipulation guided by free-form language commands. We propose a Unified Hand-Dexterous Tokenizer that maps heterogeneous dexterous-hand morphologies into a single shared codebook, improving cross-dexterous hand generalization and scalability to new morphologies. Our vision language action model is trained solely on human-object interaction data, eliminating the need for massive real-world teleoperation datasets, and demonstrates strong generalizability in producing human-like manipulation sequences from open-ended language instructions. To ensure physical realism, we introduce a physics-guided dynamic refinement module that performs segment-wise joint optimization under generative and temporal priors, yielding smooth and physically feasible manipulation sequences. Across multiple datasets and real-world evaluations, UniHM attains state-of-the-art results on both seen and unseen objects and trajectories, demonstrating strong generalization and high physical feasibility. Our project page at \href{https://unihm.github.io/}{https://unihm.github.io/}.

Deep reinforcement learning (RL) has been applied extensively to solve complex decision-making problems. In many real-world scenarios, tasks often have several conflicting objectives and may require multiple agents to cooperate, which are the multi-objective multi-agent decision-making problems. However, only few works have been conducted on this intersection. Existing approaches are limited to separate fields and can only handle multi-agent decision-making with a single objective, or multi-objective decision-making with a single agent. In this paper, we propose MO-MIX to solve the multi-objective multi-agent reinforcement learning (MOMARL) problem. Our approach is based on the centralized training with decentralized execution (CTDE) framework. A weight vector representing preference over the objectives is fed into the decentralized agent network as a condition for local action-value function estimation, while a mixing network with parallel architecture is used to estimate the joint action-value function. In addition, an exploration guide approach is applied to improve the uniformity of the final non-dominated solutions. Experiments demonstrate that the proposed method can effectively solve the multi-objective multi-agent cooperative decision-making problem and generate an approximation of the Pareto set. Our approach not only significantly outperforms the baseline method in all four kinds of evaluation metrics, but also requires less computational cost.